Autonomous mechatronics-based locomotion module for multi-wheel vehicle and terrestrial robot applications

The main trend in designs of modern automobiles is a widespread use of mechatronic modules and systems. These modules are built as a symbiosis of electric, electronic and hydraulic components, united by means of the control system and intended to fulfill particular targeted functions. In the article results of a comprehensive theoretical and experimental study aimed at creating a drive and a control system of a wheel module intended to be used with the steering and spring systems of an automobile and a mobile robot have been considered. Also the basic principles of the a complex of mechatronic drives of the wheel module (CMD WM) and technical requirements for the components of the complex as a mechatronic module of the system of active safety of the automobile and mobile robot have been formulated. The operation of all the subsystems of the CMD WM of the all-wheel steering system with various types of the electro-hydraulic servo drive of wheel turning, and with the regulated wheel springing system and the onboard information and control system has been studied on the basis of the mathematical model. Diagrams of all the components and of the CMD WM as a whole have been presented. The automobile should be built as a complex of module-based mechatronic systems. An ideal automobile is a multi-functional mobile robot.